/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "can.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "oled_data.h"
#include "Caculate.h"
#include "DJI.h"
#include "STP23.h"
#include	"wtr_can.h"
#include "delay_us.h"
#include "motor_mg513.h"
#include "math.h"
#include "delay_us.h"
#include "datou.h"
#include "Control.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
u16 receive_cnt,receive_cnt_y;//计算成功接收数据帧次数
u8 confidence,confidence_y;
u16 distance,distance_y,noise,noise_y,reftof,reftof_y;
u32 peak,peak_y,intg,intg_y;
extern CAN_HandleTypeDef hcan1;
u8 store_information[6]={0,0,0,0,0,0};
u8 place_information[6]={0,0,0,0,0,0};
extern UART_HandleTypeDef huart4;  // 确保已定义（由 HAL_UART_Init 生成）
extern UART_HandleTypeDef huart5;  // 确保已定义（由 HAL_UART_Init 生成）
extern char u4copy[UART4_RX_BUF_SIZE];
extern char u5copy[UART5_RX_BUF_SIZE];
// char u4_buf[6]={4,3,5,2,6,1};
// char u5_buf[6]={6,7,1,2,3,5};
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */
bool is_place_unique(uint8_t *arr) {
    uint8_t count[10] = {0};  // 统计0-9的出现次数（索引0-9对应数字0-9）

    for (int i = 0; i < 6; i++) {
        uint8_t num = arr[i];
        
        // 检查数值是否合法（0-9）
        if (num >= 10) {
            return false;  // 非法数值（如字符转换错误）
        }

        // 检查是否重复
        count[num]++;
        if (count[num] > 1) {
            return false;  // 发现重复
        }
    }
    return true;  // 所有数值合法且无重复
}
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN1_Init();
  MX_SPI1_Init();
  MX_TIM1_Init();
  MX_TIM5_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_UART4_Init();
  MX_UART5_Init();
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */
  HAL_TIM_Base_Start_IT(&htim1);
  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);   
  HAL_TIM_Base_Start(&htim5);
  HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_1);
  HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_2);
	CANFilterInit(&hcan1);
	OLED_Init();	  
  HAL_DelayUs_Init();  
	hDJI[0].motorType = M2006;
	hDJI[1].motorType = M2006;
	hDJI[2].motorType = M2006;
	hDJI[3].motorType = M3508;  
	hDJI[4].motorType = M2006;    
	MY_DJI_Init();	
		OLED_Clear();			
		OLED_ShowString(1,1,u4copy,OLED_8X16);
		OLED_ShowString(1,1+16,u5copy,OLED_8X16);
		OLED_Update();
  HAL_Delay(3000);

  while (((store_information[0]+store_information[1]
         +store_information[2]+store_information[3]
         +store_information[4]+store_information[5])!=21)||place_information[0]==0
        ||!(is_place_unique(place_information)))
  {  
		OLED_Clear();			
		OLED_ShowString(1,1,u4copy,OLED_8X16);
		OLED_ShowString(1,1+16,u5copy,OLED_8X16);
		OLED_Update();
  }
  
  // 停止 USART4 接收（禁用中断并清空缓冲区）
  HAL_UART_AbortReceive(&huart4);  // 停止接收并清除未处理数据
  // 停止 USART5 接收（同理）
  HAL_UART_AbortReceive(&huart5);    
    // for (int i = 0; i < 6; i++) {
    //     store_information[i] = u4_buf[i] - '0';
    // }  
    // for (int i = 0; i < 6; i++) {
    //     place_information[i] = u5_buf[i] - '0';
    // }    
    // store_information[0] = 1;
    // store_information[1] = 2;
    // store_information[2] = 5;
    // store_information[3] = 3;
    // store_information[4] = 6;
    // store_information[5] = 4;

    // place_information[0] = 6;
    // place_information[1] = 1;
    // place_information[2] = 4;
    // place_information[3] = 7;
    // place_information[4] = 2;
    // place_information[5] = 3;    
    // store_information[0] = 1;
    // store_information[1] = 6;
    // store_information[2] = 2;
    // store_information[3] = 3;
    // store_information[4] = 5;
    // store_information[5] = 4;

    // // place_information[0] = 6;
    // // place_information[1] = 1;
    // // place_information[2] = 4;
    // // place_information[3] = 7;
    // // place_information[4] = 2;
    // // place_information[5] = 3;    
    // place_information[0] = 6;
    // place_information[1] = 1;
    // place_information[2] = 4;
    // place_information[3] = 7;
    // place_information[4] = 2;
    // place_information[5] = 3;        
  HAL_Delay(3000);  
  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();  /* Call init function for freertos objects (in freertos.c) */
  MX_FREERTOS_Init();

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM8 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM8) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
